/*********************************************************************
*
* Software License Agreement (BSD License)
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*  Copyright (c) 2009, Willow Garage, Inc.
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB_SERVER_SERVICE_SERVER_H_
#define ACTIONLIB_SERVER_SERVICE_SERVER_H_

#include <actionlib/action_definition.h>
#include <actionlib/server/action_server.h>

namespace actionlib {
  class ServiceServerImp {
    public:
      ServiceServerImp(){}
      virtual ~ServiceServerImp(){}
  };

  class ServiceServer {
    public:
      ServiceServer(boost::shared_ptr<ServiceServerImp> server) : server_(server) {}

    private:
      boost::shared_ptr<ServiceServerImp> server_;
  };

  template <class ActionSpec> 
  ServiceServer advertiseService(ros::NodeHandle n, std::string name,
          boost::function<bool (const typename ActionSpec::_action_goal_type::_goal_type&, 
                                typename ActionSpec::_action_result_type::_result_type& result)> service_cb);

  template <class ActionSpec>
  class ServiceServerImpT : public ServiceServerImp {
    public:
      //generates typedefs that we'll use to make our lives easier
      ACTION_DEFINITION(ActionSpec);

      typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;

      ServiceServerImpT(ros::NodeHandle n, std::string name, 
          boost::function<bool (const Goal&, Result& result)> service_cb);
      void goalCB(GoalHandle g);

    private:
      boost::shared_ptr<ActionServer<ActionSpec> > as_;
      boost::function<bool (const Goal&, Result& result)> service_cb_;
  };
};

//include the implementation
#include <actionlib/server/service_server_imp.h>
#endif
